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/**
 * \file apply_calib.h
 * \author Daniel Koch <daniel.p.koch@gmail.com>
 *
 * Class for applying a previously computed calibration to IMU data
 */

#include <ros/ros.h>
#include <riki_msgs/Imu.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/MagneticField.h>

#include <imu_calib/accel_calib.h>

namespace imu_calib
{

class ApplyCalib
{
public:
  ApplyCalib();

private:
  AccelCalib calib_;

  ros::Subscriber raw_sub_;
  ros::Publisher corrected_pub_;
  ros::Publisher mag_pub_;

  void rawImuCallback(riki_msgs::Imu::ConstPtr raw);

  bool calibrate_gyros_;
  int gyro_calib_samples_;
  int gyro_sample_count_;

  double gyro_bias_x_;
  double gyro_bias_y_;
  double gyro_bias_z_;
};

} // namespace accel_calib
